Motor driving apparatus

ABSTRACT

A motor driving apparatus including a motor including a stator and a rotor rotating in the stator, an inverter configured to supply a driving voltage to a stator coil wound on the stator so as to rotate the rotor, and a control unit configured to, when a target command value is received, change a predetermined reference start-up time point to a start-up time point corresponding to an electrical angle position of the rotor in correspondence with the target command value per rotation of the rotor and to control the inverter to supply the driving voltage at the start-up time point.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Korean PatentApplication No. 10-2015-0021097, filed on Feb. 11, 2015 in the KoreanIntellectual Property Office, the disclosure of which is incorporatedherein by reference.

BACKGROUND 1. Field

Embodiments relate to a motor driving apparatus.

2. Description of the Related Art

Small precision motors are typically categorized as alternating current(AC) motors, direct current (DC) motors, brushless DC motors orreluctance motors.

Such small motors are widely used in AV apparatuses, computers, homeappliances, housing facilities and industrial facilities. In particular,home appliances form the largest market for small motors. The quality ofhome appliances is gradually improving and downsizing, low noise and lowpower consumption of motors driven in home appliances are required.

A BLDC motor does not have a brush and a commutator, does not causemechanical friction loss, sparks, or noise, and is excellent speedcontrol and torque control. In addition, speed control does not resultin loss and the BLDC motor benefits from a high efficiency as result ofa small motor size. In addition, since BLDC motors can be easilydownsized, have high durability, long lifespans, and do not requiremaintenance, BLDC motors have gradually become widely used in homeappliances.

Recently, research into diversification of a signal pattern of a pulsewidth modulation (PWM) signal for controlling an inverter for providinga three-phase ac voltage to a BLDC motor has been conducted.

SUMMARY

Therefore, the present invention has been made in view of the aboveproblems, and it is an object of the present invention to provide amotor driving apparatus capable of changing ON and OFF periods of a PWMsignal according to a lead angle and an electrical angle position of arotor included in a motor to drive a motor at maximum output.

An object of the present invention is to provide a motor drivingapparatus including a motor including a stator and a rotor rotating inthe stator, an inverter configured to supply a driving voltage to astator coil wound on the stator so as to rotate the rotor, and a controlunit configured to, when a target command value is received, change apredetermined reference start-up time point to a start-up time pointcorresponding to an electrical angle position of the rotor incorrespondence with the target command value per rotation of the rotorand to control the inverter to supply the driving voltage at thestart-up time point.

Another object of the present invention is to provide a motor drivingapparatus including a motor including a stator and a rotor rotating inthe stator, an inverter configured to supply a driving voltage to astator coil wound on the stator or to cut off the driving voltagesupplied to the stator coil, and a control unit configured to, when atarget command value is received, set a start-up period for supplyingthe driving voltage per rotation of the rotor, according to anelectrical angle position of the rotor estimated based on at least oneof a voltage, current and counter electromotive force detected in thestator coil and the target command value, and to control the inverter tosupply the driving voltage in the start-up period.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and advantages of the presentinvention will be more clearly understood from the following detaileddescriptions and accompanying drawings:

FIG. 1 is a block diagram showing the control configuration of a motordriving apparatus according to a first embodiment;

FIG. 2 is a block diagram showing the control configuration of a controlunit shown in FIG. 1;

FIG. 3 is a circuit diagram showing a driving circuit of the motordriving apparatus according to the first embodiment;

FIG. 4 is a diagram showing the signal pattern of a PWM signal of themotor driving apparatus according to the first embodiment; and

FIG. 5 is a block diagram showing the control configuration of a motordriving apparatus according to a second embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Advantages and features of the present invention and methods forachieving them may become apparent upon referring to embodimentsdescribed below and attached drawings. However, embodiments are notlimited to the embodiments disclosed hereinafter, and may be embodied indifferent modes. The descriptions of the embodiments below are providedfor perfection of disclosure and describing the scope of the inventionto persons skilled in this field of art. The same reference numerals mayrefer to similar or equivalent elements of different embodimentsthroughout the specification.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which the example embodiments pertain.It will be further understood that terms, such as those defined incommonly used dictionaries, should be interpreted as having a meaningthat is consistent with their meaning in the context of the relevant artand should not be interpreted in an idealized or overly formal senseunless expressly so defined herein.

Hereinafter, embodiments will be described in detail with reference tothe drawings.

FIG. 1 is a block diagram showing the control configuration of a motordriving apparatus according to a first embodiment.

Referring to FIG. 1, the motor driving apparatus 100 may include a motor110, an inverter 120 and a control unit 130.

The motor 110 may include a stator, on which a stator coil is wound, anda rotor provided in the stator and rotated by a magnetic field generatedin the stator coil.

Although the motor 110 may be an induction motor, a brushless DC (BLDC)motor or a reluctance motor, it is assumed that the motor is a BLDCmotor in this embodiment.

In the motor 110, when three-phase ac driving voltages Vua, Vvb and Vwcare supplied from the inverter 120 to the stator coil, a permanentmagnet included in the rotor rotates according to the magnetic fieldgenerated in the stator coil.

The inverter 120 may include three-phase switching elements (not shown).

When an operation control signal (hereinafter, referred to as a pulsewidth modulation (PWM) signal PWMS) is received from the control unit130, the three-phase switching elements may be switched on or off toconvert a received dc voltage Vdc into the three-phase ac drivingvoltages Vua, Vvb and Vwc and to supply the three-phase ac drivingvoltages Vua, Vvb and Vwc to the stator coil.

The three-phase switching elements will be described in detail below.

When a target command value is received, the control unit 120 may changea start-up period for supplying the three-phase ac driving voltages Vua,Vvb and Vwc for the motor 110 to attain maximum power per rotation ofthe rotor according to an optimal driving point. The optimal drivingpoint may be calculated based on the target command value and theelectrical angle position of the rotor estimated based on at least oneof the voltage, current and counter electromotive force detected in thestator coil. A PWM signal (PWMS) may then be outputted to the inverter120 so as to supply the three-phase ac driving voltages Vua, Vvb and Vwcin the start-up period.

That is, the control unit 130 may output the PWM signal PWMS incorrespondence with the start-up period for supplying the three-phase acdriving voltages Vua, Vvb and Vwc according to the target command valueand the electrical angle position of the rotor, without being limitedthereto.

At this time, the PWM signal may be supplied once per rotation of therotor according to the electrical angle. The control unit 130 will bedescribed in detail below.

FIG. 2 is a block diagram showing the control configuration of thecontrol unit shown in FIG. 1.

Referring to FIG. 2, the control unit 130 may include athree-phase/two-phase axis transformation unit 210, a position estimator220, a speed calculator 230, a command value generator 240, atwo-phase/three-phase axis transformation unit 250 and a signalgenerator (hereinafter, referred to as a PWM generator) 260.

The three-phase/two-phase axis transformation unit 210 receives andtransforms three-phase currents ia, ib, ic output from the motor 110into two-phase currents iα and iβ of a stationary coordinate system.

The three-phase/two-phase axis transformation unit 210 may transformtwo-phase currents iα, and iβ of the stationary coordinate system intotwo-phase currents id and iq of a rotating coordinate system.

The position estimator 220 may detect at least one of three-phasecurrents ia, ib and ic and three-phase voltages Va, Vb and Vc andcounter electromotive force (not shown) and estimate an electrical angleposition H of the rotor included in the motor 110.

The speed calculator 230 may calculate the current speed {circumflexover (ω)}_(r) of the rotor based on at least one of the position Hestimated by the position estimator 220 and the three-phase voltages Va,Vb and Vc. That is, the speed calculator 230 may divide the position Hby time to calculate the current speed {circumflex over (ω)}_(r).

In addition, the speed estimator 230 may calculate and output anelectrical angle position {circumflex over (θ)}_(r) and current speed{circumflex over (ω)}_(r) based on the position H.

The command generator 240 may include a current command generator 242and a voltage command generator 244.

The current command generator 242 calculates a speed command valueω*_(r) based on the calculated current speed {circumflex over (ω)}_(r)and a command speed ω corresponding to the received target commandvalue.

The current command generator 242 then generates a current command valuei*_(q) based on the speed command value ω*_(r).

For example, the current command generator 242 may perform PI control ina PI controller 243 based on the speed command value ω*_(r), whichconstitutes a difference between the current speed {circumflex over(ω)}_(r) and the command speed ω, and generate a current command valuei*_(q). Although the q-axis current command value i*_(q) is used as thecurrent command value in the figure, a d-axis current command valuei*_(d) may also be generated. The d-axis current command value i*_(d)may be set to 0.

The current command generator 242 may further include a limiter (notshown) for limiting the level of the current command value i*_(q) so asto not exceed an allowable range.

Next, the voltage command generator 244 generates d-axis and q-axisvoltage command values V*_(d) and V*_(q) based on the d-axis and q-axiscurrents i_(d) and i_(q) axis-transformed into the rotating coordinatesystem and the current command values i*_(d) and i*_(q) from the currentcommand generator 242.

For example, the voltage command generator 244 may perform PI control inthe PI controller 245 based on a difference between the q-axis currenti_(q) and the q-axis current command value i*_(q) and generate theq-axis voltage command value V*_(q).

In addition, the voltage command generator 244 may perform PI control inthe PI controller 246 based on a difference between the d-axis currenti_(d) and the d-axis current command value i*_(d) and generate thed-axis voltage command value V*_(d).

The d-axis voltage command value V*_(d) may be set to 0 when the d-axiscurrent command value i*_(d) is set to 0.

The voltage command generator 244 may further include a limiter (notshown) for limiting the levels of the d-axis and q-axis voltage commandvalues V*_(d) and V*_(q) so as to not exceed an allowable range.

The generated d-axis and q-axis voltage command values V*_(d) and V*_(q)are then input to the two-phase/three-phase axis transformation unit250.

The two-phase/three-phase axis transformation unit 250 receives theelectrical angle position {circumflex over (θ)}_(r) calculated by thespeed calculator 230 and the d-axis and q-axis voltage command valuesV*_(d) and V*_(q) and performs axis transformation.

First, the two-phase/three-phase axis transformation unit 250 performstransformation from the two-phase rotating coordinate system to thetwo-phase stationary coordinate system. At this time, the electricalangle position {circumflex over (θ)}_(r) calculated by the speedcalculator 230 may be used.

The two-phase/three-phase axis transformation unit 250 performstransformation from the two-phase stationary coordinate system to thethree-phase stationary coordinate system. Through such transformation,the two-phase/three-phase axis transformation unit 250 outputsthree-phase output voltage command values V*a, V*b and V*c.

The PWM generator 260 generates and outputs the PWM signal PWMS for theinverter according to the PWM method based on the three-phase outputvoltage command values V*a, V*b and V*c generated by the current commandvalues i*_(d), i*_(q) and the voltage command values V*_(d) and V*₁.

The PWM signal PWMS may be transformed into a gate driving signal by agate driving unit (not shown) and input to the gates of the three-phaseswitching elements of the inverter 120. The three-phase switchingelements of the inverter 120 may perform switching operation.

The PWM generator 260 may change a reference start-up period forsupplying the PWM signal PWMS based on the electrical angle position{circumflex over (θ)}_(r) and the three-phase voltages Va, Vb and Vc tothe start-up period corresponding to the electrical angle position{circumflex over (θ)}_(r) and control the three-phase switching elementsto be switched on and off once in the start-up period per rotation ofthe rotor according to the electrical angle.

The PWM generator 260 may change a reference driving time point andreference driving time included in the reference start-up period to astart-up time point and start-up time for supplying the driving voltage,based on the electrical angle position {circumflex over (θ)}_(r) of therotor and the lead angles of the three-phase voltages Va, Vb and Vc, andgenerate and output the PWM signal PWMS corresponding to the start-upperiod including the start-up time point and the start-up time.

In addition, the PWM generator 260 may change the reference start-uptime point and reference start-up time included in the referencestart-up period to the start-up time point and start-up time forsupplying the driving voltage, based on the electrical angle position{circumflex over (θ)}_(r) of the rotor and the lag angles of thethree-phase voltages Va, Vb and Vc, and generate and output the PWMsignal PWMS corresponding to the start-up period including the start-uptime point and the start-up time.

In addition, the PWM generator 260 compensates for the electrical angleposition {circumflex over (θ)}_(r) of the rotor based on the lead anglesand duty ratio of the three-phase voltages Va, Vb and Vc, changes thereference start-up time point and reference start-up time included inthe reference start-up period to the start-up time point and start-uptime for supplying the driving voltage, according to the compensatedelectrical angle position of the rotor, and generates and outputs thePWM signal PWMS corresponding to the start-up period including thestart-up time point and the start-up time.

The PWM generator 260 may use a plurality of algorithms to generate thePWM signal PWMS, to change the start-up time point, the start-up timeand an off time for cutting off the driving voltage, per rotation of therotor, and to calculate an output power value corresponding to thetarget command value, to thereby calculate the optimal driving point.

That is, the PWM generator 260 may calculate the maximum power valueaccording to Equation 1 below.

$\begin{matrix}{P = {\frac{3}{2}( {{v_{d}i_{d}} + {v_{q}i_{q}}} )}} & {{Equation}\mspace{14mu} 1}\end{matrix}$

where, P denotes the output power value, v_(d) denotes the d-axisvoltage command value of the voltage command values, i_(d) denotes thed-axis current command value of the current command values, v_(q)denotes the q-axis voltage command value of the voltage command valuesand i_(q) denotes the q-axis current command value of the currentcommand values.

At this time, the PWM generator 260 may change the reference start-uptime point and reference start-up time included in the referencestart-up period to the start-up time point and start-up time forsupplying the three-phase voltages Va, Vb and Vc, according to theelectrical angle position {circumflex over (θ)}_(r) of the rotor and theoutput power value, without being limited thereto.

The start-up time may be equal to or less than the off time, withoutbeing limited thereto.

FIG. 3 is a circuit diagram showing a driving circuit of the motordriving apparatus according to the first embodiment.

Referring to FIG. 3, the driving circuit may include a motor 110, aninverter 120 and a control unit 130.

Here, a power source 101 for supplying a dc voltage Vdc to the inverter120 may be provided in the front stage of the inverter 120.

The power source 101 may be a battery power source for supplying the dcvoltage Vdc, without being limited thereto.

If the power source 101 supplies a single-phase or three-phase acvoltage, a rectifier (not shown) for rectifying the ac voltage to the dcvoltage Vdc may be provided between the power source 101 and theinverter 120. The rectifier may be a bridge rectification circuit,without being limited thereto.

The inverter 120 may include three-phase switching elements, and may beswitched on and off by the PWM signal PWMS supplied from the controlunit 130 to convert the dc voltage Vdc into three-phase ac voltages Vua,Vvb and Vwc having a predetermined frequency and duty ratio and tooutput the three-phase ac voltages Vua, Vvb and Vwc to the motor 110.

In the three-phase switching elements, first to third upper-arm switchesSa, Sb and Sc and first to third lower-arm switches S′a, S′b and S′crespectively connected in series form respective pairs and a total ofthree pairs of first to third upper-arm and lower-arm switches areconnected in parallel (Sa&S′a, Sb&S′b, Sc&S′c).

That is, the first upper-arm and lower-arm switches Sa and S′a supply afirst phase ac voltage Vua of the three-phase ac voltages Vua, Vvb andVwc to the first coil La of the stator coils La, Lb and Lc of the motor110.

In addition, the second upper-arm and lower-arm switches Sb and S′b maysupply a second phase ac voltage Vvb to the second coil Lb and the thirdupper-arm and lower-arm switches Sc and S′c may supply a third phase acvoltage Vwc to the third coil Lc.

The first to third upper-arm switches Sa, Sb and Sc and the first tothird lower-arm switches S′a, S′b and S′c are switched on and off onceaccording to the received PWM signal PWMS per rotation of the rotor,such that the three-phase ac voltages Vua, Vvb and Vwc are respectivelysupplied to the stator coils La, Lb and Lc.

At this time, the ON period of the first upper-arm switch Sa maypartially overlap with that of at least one of the second and thirdupper-arm switches Sb and Sc, without being limited thereto.

In addition, the ON period of the first upper-arm switch Sa maypartially overlap with that of the third lower-arm switch S′c.

Although the ON period of the first upper-arm switch Sa of the first tothird upper-arm switches Sa, Sb and Sc was described above, the samedescriptions apply to the operations of the other upper-arm switches.

The control unit 130 may deliver the PWM signal PWMS to the first tothird upper-arm switches Sa, Sb and Sc and the first to third lower-armswitches S′a, S′b and S′c and control the three-phase ac voltages Vua,Vvb and Vwc to be supplied to the stator coils La, Lb and Lc, asdescribed above with reference to FIG. 2.

FIG. 4 is a diagram showing the signal pattern of a PWM signal of themotor driving apparatus according to the first embodiment.

FIG. 4 shows timings of first to sixth PWM signals PWMS1, PWMS2, PWMS3,PWMS4, PWMS5 and PWMS6 input to the first to third upper-arm switchesSa, Sb and Sc and the first to third lower-arm switches S′a, S′b and S′caccording to the electrical angle position of the rotor.

In addition, FIG. 4 shows the signal pattern based on the firstupper-arm switch Sa, without being limited thereto.

That is, referring to FIG. 4, the first PWM signal PWM1 may include anON period in which the electrical angle position of the rotor is in arange from 0° to 150° and an OFF period in which the electrical angleposition of the rotor is in a range from 150° to 360°.

At this time, the first upper-arm switch Sa may be switched on in the ONperiod of the first PWM signal PWMS to supply the first phase ac voltageVua such that first phase current ia is supplied to the first coil La.

Thereafter, the first upper-arm switch Sa may be switched off in the OFFperiod of the first PWM signal PWMS to cut off the first phase acvoltage Vua supplied to the first coil La.

Thereafter, the second and third upper-arm switches Sb and Sc and thefirst to third lower-arm switches S′a, S′b and S′c may be switched onand off by the second to sixth PWM signals PWMS2 to PWMS6.

At this point, the control unit 130 may change the duty ratio orfrequency of the first to sixth PWM signals PWMS1 to PWMS6 equally tothe frequency of the three-phase voltages Va, Vb and Vc of the motor110, such that the current speed {circumflex over (ω)}_(r) of the motor110 is changed in correspondence with the command speed ω, as describedabove with reference to FIG. 2, when deciding the ON and OFF periods ofthe first to sixth PWM signals PWMS1 to PWMS6.

For example, the control unit 130 may decrease the duty ratio of thefirst to sixth PWM signals PWMS1 to PWMS6, when the motor 110 rotates ata low speed according to the command speed ω. That is, the control unit130 changes the ON period of the first to sixth PWM signals PWMS1 toPWMS6 to a period in which the electrical angle position of the rotor isin a range from 0° to 60°, which is less than a range from 0° to 150°.

Thereafter, the control unit 130 may change the ON period of the firstto sixth PWM signals PWMS1 to PWMS6 to a period in which the electricalangle position of the rotor is in a range from 0° to 180°, which isgreater than a range from 0° to 150°, when the motor 110 rotates at ahigh speed according to the command speed ω.

That is, the control unit 130 changes the supply times of thethree-phase ac voltages Vua, Vvb and Vwc according to the command valueω of the motor 110 to change the ON period in correspondence with theelectrical angle position of the rotor such that the motor 110 hasmaximum power according to the command speed ω.

In addition, the ON period of the first PWM signal PWMS1 may partiallyoverlay that of the second PWM signal PWMS2 and that of the sixth PWMsignal PWSM6 and the on operations of the first and second upper-armswitches Sa and Sb and the third lower-arm switch S′c partially overlap,without being limited thereto.

FIG. 5 is a block diagram showing the control configuration of a motordriving apparatus according to a second embodiment.

Referring to FIG. 5, the motor driving apparatus may include a motor210, an inverter 220, a sensor unit 230 and a control unit 240.

The motor 210 may include a stator, on which a stator coil (not shown)is wound, and a rotor provided in the stator and rotated by a magneticfield generated in the stator coil. The motor 210 is equivalent to themotor 110 shown in FIG. 1 and thus a detailed description thereof willbe omitted.

The inverter 220 may include three-phase switching elements (not shown),as in the inverter 110 shown in FIG. 1.

When an operation control signal (hereinafter, referred to as a PWMsignal PWMS) is received from the control unit 240, the three-phaseswitching elements may be switched on and off to convert the received dcvoltage Vdc into three-phase ac driving voltages Vua, Vvb and Vwc and tosupply the three-phase ac driving voltages Vua, Vvb and Vwc to thestator coil. Here, the description of the three-phase switching elementswill be omitted.

The sensor unit 230 may include at least one Hall sensor (not shown) formeasuring the electrical angle position of the rotor. The at least oneHall sensor detects and outputs the electrical angle position of therotor to the control unit 240.

When a target command value is received, the control unit 240 may changea predetermined reference start-up time point into a start-up time pointcorresponding to the electrical angle position of the rotor measured bythe sensor unit 230 in correspondence with the target command value perrotation of the rotor, and control the inverter 220 to supply thethree-phase ac driving voltages Vua, Vvb and Vwc at the start-up timepoint.

The reference start-up time point may be a time point when each of thethree-phase ac driving voltages Vua, Vvb and Vwc is supplied when theelectrical angle position of the rotor is a predetermined referenceposition.

The control unit 240 may change the reference start-up time point to thestart-up point moved in correspondence with a difference between theelectrical angle position of the rotor and the reference position.

The control unit 240 may change the start-up time point per rotation ofthe rotor and output the PWM signal PWMS to the inverter 220 so as tosupply the three-phase ac driving voltages Vua, Vvb and Vwc according tothe start-up time point.

In the motor driving apparatus according to the embodiment, thethree-phase switching elements of the inverter are switched on and offonce per rotation of the rotor according to the electrical angleposition of the rotor included in the motor so as to control the leveland frequency of the voltage output from the motor, thereby maximizingswitching efficiency of the inverter.

The terms “comprises,” “includes”, or “has” as recited herein should beinterpreted not to exclude other elements but to further include suchother elements since the corresponding elements may be inherentlypresent unless mentioned otherwise.

Although the preferred embodiments of the present invention have beendisclosed for illustrative purposes, those skilled in the art willappreciate that various modifications, additions and substitutions arepossible, without departing from the scope and spirit of the inventionas disclosed in the accompanying claims. Such modifications should notbe individually understood from the technical spirit or prospect of thepresent invention.

1-20. (canceled)
 21. A motor driving apparatus comprising: a motorincluding a stator and a rotor rotating in the stator; an inverterincluding three-phase switching elements to supply a driving voltage toa stator coil wound on the stator or to cut off the driving voltagesupplied to the stator coil; and a control unit configured to, when atarget command value is received, set a start-up period for supplyingthe driving voltage per rotation of the rotor, according to anelectrical angle position of the rotor estimated based on at least oneof a voltage, current and counter electromotive force detected in thestator coil and the target command value, and to control the inverter tosupply the driving voltage in the start-up period, and the control unitcontrols each of the three-phase switching elements to switch on and offonce per rotation of the rotor.
 22. The motor driving apparatusaccording to claim 21, wherein: the stator coil includes first to thirdcoils, and the inverter includes: a first switching unit connected tothe first coil in parallel and including complimentarily operating firstupper-arm and lower-arm switches; a second switching unit connected tothe second coil in parallel and including complimentarily operatingsecond upper-arm and lower-arm switches; and a third switching unitconnected to the third coil in parallel and including complimentarilyoperating third upper-arm and lower-arm switches.
 23. The motor drivingapparatus according to claim 22, wherein each of the first to thirdupper-arm switches and the first to third lower-arm switches is switchedon and off per rotation of the rotor, under control of the control unit.24. The motor driving apparatus according to claim 22, wherein: each ofthe first to third upper-arm switches is switched on in the start-upperiod, and at least one of the first to third upper-arm switchesperforms ON operation in a portion of the start-up period.
 25. The motordriving apparatus according to claim 22, wherein at least one of thefirst and second upper-arm switches and the third lower-arm switchperforms ON operation in a portion of the start-up period.
 26. The motordriving apparatus according to claim 21, wherein the control unitincludes: a position estimator configured to detect at least one of thecurrent, the voltage and the counter electromotive force from the statorcoil and to estimate the electrical angle position of the rotor; a speedcalculator configured to calculate a current speed of the rotor based onthe electrical angle position of the rotor and the voltage; a commandvalue generator configured to generate a current command value accordingto the current speed and the target command value and to generate avoltage command value based on the current command value and thecurrent; and a signal generator configured to change a referencestart-up period corresponding to the current command value and thevoltage command value to the start-up period based on the electricalangle position of the rotor and to generate and output an operationcontrol signal to the inverter so as to supply the driving voltage inthe start-up period.
 27. The motor driving apparatus according to claim26, wherein the signal generator changes a reference driving time pointand a reference driving time included in the reference start-up periodto a start-up time point and start-up time for supplying the drivingvoltage, based on the electrical angle position of the rotor and a leadangle of the voltage, and generates and outputs the operation controlsignal corresponding to the start-up period including the start-up timepoint and the start-up time.
 28. The motor driving apparatus accordingto claim 26, wherein the signal generator changes a reference drivingtime point and a reference driving time included in the referencestart-up period to a start-up time point and start-up time for supplyingthe driving voltage, based on the electrical angle position of the rotorand a lag angle of the voltage and generates and outputs the operationcontrol signal corresponding to the start-up period including thestart-up time point and the start-up time.
 29. The motor drivingapparatus according to claim 26, wherein the signal generatorcompensates for the electrical angle position of the rotor based on aduty ratio and a lead angle of the voltage, changes a reference drivingtime point and a reference driving time included in the referencestart-up period to a start-up time point and start-up time for supplyingthe driving voltage, based on the compensated electrical angle positionof the rotor, and generates and outputs the operation control signalcorresponding to the start-up period including the start-up time pointand the start-up time.
 30. The motor driving apparatus according toclaim 26, wherein the signal generator changes the reference start-upperiod to the start-up period according to an optimal driving pointcalculated based on the electrical angle position of the rotor and thevoltage.
 31. The motor driving apparatus according to claim 30, whereinthe signal generator calculates an output power value corresponding tothe target command value in order to calculate the optimal driving pointaccording to the below equation:$P = {\frac{3}{2}( {{v_{d}i_{d}} + {v_{q}i_{q}}} )}$where, P denotes the output power value, V*d denotes a d-axis voltagecommand value, i*d denotes a d-axis current voltage value, V*q denotes aq-axis voltage command value and i*q denotes a q-axis current commandvalue.
 32. The motor driving apparatus according to claim 31, whereinthe signal generator changes the reference start-up time point and thereference start-up time included in the reference start-up period to thestart-up time point and start-up time for supplying the driving voltageaccording to the electrical angle position of the rotor and the outputpower value and generates and outputs the operation control signalcorresponding to the start-up period including the start-up time pointand the start-up time.
 33. The motor driving apparatus according toclaim 21, wherein the control unit supplies a reference driving voltageto the stator coil and detects at least one of the voltage, the currentand the counter electromotive power detected in the stator coil, whenthe motor initially starts up according to the target command value. 34.The motor driving apparatus according to claim 21, wherein the signalgenerator changes the start-up time point and start-up time forsupplying the driving voltage, included in the start-up period once perrotation of the rotor.
 35. The motor driving apparatus according toclaim 21, wherein the start-up period includes the start-up time point,the start-up time and an off time for cutting off the driving voltage,per rotation of the rotor.
 36. The motor driving apparatus according toclaim 35, wherein the start-up time is equal to or less than the offtime.